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Comparison of proportional-derivative and active-force controls on vibration of a flexible single-link manipulator using finite-element method

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Abstract

The purposes of this research are to derive the equations of motion of a flexible single-link system by a finite-element method, to develop the computational codes in order to perform dynamics simulations with vibration control and to propose an effective control scheme of a flexible single-link manipulator using two control strategies, namely proportional-derivative (PD) and active-force (AF) controls. The flexible manipulator used in this paper consists of an aluminum beam as a flexible link, a clamp-part, a servo motor to rotate the link, and a piezoelectric actuator to control vibration. Computational codes on time history responses, FFT (Fast Fourier Transform) processing, and eigenvalues–eigenvectors analysis were developed to calculate the dynamic behavior of the link. Furthermore, the PD and AF control strategies were designed and compared their performances through the calculations. The calculated results show the superiority of the proposed AF control comparing the PD one to suppress the vibration of the flexible single-link manipulator.

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Authors and Affiliations

  1. Graduate School of Science and Engineering, Ehime University, Matsuyama, Japan

    Abdul Kadir Muhammad, Shingo Okamoto & Jae Hoon Lee

  2. Mechanical Engineering Department, State Polytechnic of Ujung Pandang, Makassar, Indonesia

    Abdul Kadir Muhammad

Authors
  1. Abdul Kadir Muhammad
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  2. Shingo Okamoto
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  3. Jae Hoon Lee
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Corresponding author

Correspondence to Abdul Kadir Muhammad.

Additional information

This work was presented in part at the 19th International Symposium on Artificial Life and Robotics, Beppu, Oita, January 22-24, 2014.

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Muhammad, A.K., Okamoto, S. & Lee, J.H. Comparison of proportional-derivative and active-force controls on vibration of a flexible single-link manipulator using finite-element method. Artif Life Robotics 19, 375–381 (2014). https://doi.org/10.1007/s10015-014-0186-5

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  • DOI: https://doi.org/10.1007/s10015-014-0186-5

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